EP0155084A1 - Vorrichtung zur Gestaltmessung eines dreidimensionalen Objektes - Google Patents
Vorrichtung zur Gestaltmessung eines dreidimensionalen Objektes Download PDFInfo
- Publication number
- EP0155084A1 EP0155084A1 EP85300949A EP85300949A EP0155084A1 EP 0155084 A1 EP0155084 A1 EP 0155084A1 EP 85300949 A EP85300949 A EP 85300949A EP 85300949 A EP85300949 A EP 85300949A EP 0155084 A1 EP0155084 A1 EP 0155084A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- probe
- dimensional object
- movable arm
- shape
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
Definitions
- the present invention relates to a device for measuring shapes of three-dimensional objects.
- each object is regarded as a polyhedron, and the position of each vertex (the intersection of three or more adjacent planes) of the polyhedron is measured to determine each plane, to approximately determine the shape of the object on the basis of the space surrounded or defined by such planes.
- the object to be measured has a curved surface
- a measurement is made of the positions of points in the proximity of the object surface to approximately determine the shape of the object from the positions of those points. In this case, therefore, the problem arises that errors in measurement are great.
- the method of measuring the positions of the vertexes of the object has a drawback in that the measurement time increases.
- Japanese Laid-Open Patent Publication No.55-55210 discloses a device for measuring a three-dimensional curved surface.
- the device is equipped with a movable arm having a given number of arm members which are coupled in tandem by joints.
- the movable arm also has a probe at the forward end of the foremost arm member.
- the angle-of-rotation data pertaining to each joint is collected, while moving the probe on the curved surface of the object to thereby determine the three-dimensional surface thereof.
- this device is applied to the measurement of the shape of a three-dimensional object, the times of measurements unavoidably increases.
- An object of the present invention is to provide a measuring device which can easily measure, with high precision, the shape of a three-dimensional object.
- Another object of the present invention is to provide a measuring device arranged to directly measure a tangent plane passing through a given point on the surface of a three-dimensional object, thereby to determine the shape of the object on the basis of a plurality of tangent planes.
- a movable arm 1 is mounted on a base 2. On this base 2, a three-dimensional object, the shape of which is to be measured, is placed.
- the movable arm 1 comprises a supporting column 3 mounted on the base 2 in such a manner that it is rotatable in a plane parallel to the plane of the base 2, a first arm member 4 having its one end supported on the top of supporting column 3 to be swingable in a direction perpendicular to the surface of the base 2, a second arm member 5 having its one end supported on the other end of the first arm member 4 to be swingable in the same direction as the first arm member 4, and a third arm member 6 having its one end supported on the other end of the secono arm member 5 to be swingable in the same direction as the first ana second arm members 4 and 5.
- a probe 8 is mounted through a probe supporting member 7 in such a manner that it is three-dimensionally swingable with respect to the third arm member 6.
- the probe 8 is formed, at its forward end, with a flat surface portion 8a perpendicular to the axis of the probe 8.
- the probe 8 is coupled to the third arm member 6 by way of a universal joint.
- the probe 8 is utilized in such a manner that its flat surface portion 8a contacts a three-dimensional object to determine a tangent plane of this object.
- the x-y-z space which is referenced to the surface of the base 2, is defined as shown in Fig. 2. That is to say, when the three-dimensional object is measured, it is assumed that an angle of rotation, as defined with respect to the X axis, of the supporting column 3 provioed in the Z-axial direction perpendicular to the plane (x-yJ, which is defined by the surface of the base 2, is ⁇ .
- the first arm member 4 rotates through an angle of el with respect to the plane (x-y) about the center Xl of rotation of a joint located at the height h of the supporting column 3.
- the second arm member 5 rotates through an angle of a2 with respect to the first arm member 4 about the .
- the third arm member 6 rotates through an angle of ⁇ 3 with respect to the second arm member 5 about the center X3 of rotation of a joint between the second arm member 5 and the thiro arm member 6.
- the probe supporting member 7 is mounted on the third arm member 6 to be swingable about a position X4.
- the probe 8 rotates through an angle of e4 with respect to the Z axis in the plane in which the arm members 4, 5 and 6 rotate. Further, the probe 8 also rotates through an angle of ⁇ with respect to the plane in which each arm member rotates.
- the first, second and third arm members 4, 5 and 6 have lengths of 11, 12 and l3, respectively.
- the flat surface portion 8a of the probe 8 is provided at a position X0, which is spaced by a distance of 14 from the center X4 of the probe supporting member 7. It will be understood that the probe 8 can be directed in any direction by way of the universal joint.
- an angle-of-rotation encoder such as a potentiometer which is intended to detect the angle of rotation is coupled to each rotating shaft of the supporting column 3, arm members 4, 5 and 6, and probe supporting member 7.
- information from the angle-of-rotation encoders lla to 11f to detect the angles of rotation ⁇ , el, e2, e3 and e4 is supplied to a computer 12 which receives, from a register 13, the known data h, l1, l2, 13 and 14 of the above-mentioned movable arm and computes the center position XO of the probe 8 contacted with the three-dimensional object and the angle of a tangent plane thereof at the contact point (XO) of the flat surface portion 8a or the probe 8 with the object.
- the coordinates of the center position XO of the flat surface portion 8a of the probe 8 can be calculated from the above as follows:
- the normal line of the tangent-plane of the object at the contact point (XO) of the probe 8 with the object is inclined at an angle of ( ⁇ + ⁇ ) with respect to the X axis in the plane (x - y) and also is upwardly inclined at an angle of a with respect to the plane (x - y). Accordingly, the tangent plane can be expressed as follows:
- the shape of the object is defined by a space which is expressed as follows:
- the present invention is not limited to the above-mentioned embodiment.
- the construction (the number of the arm members, etc.) of the movable arm supporting the probe 8 and the latitude with which this movable arm can be moved may be determined in accordance with the specification involved. Measuring a tangent plane of a concave surface is also possible by making the flat surface portion 8a of the probe small. Modifications of this invention will be described. As shown in Fig. 7, the flat portion 8a of the probe 8 need not be provided perpendicular to the axis of the probe 8.
- the probe 8 may be provided with a plurality of flat portions 9a, 9b, 9c, 9d and so on for ease of measurement.
- switch means may be provided for switching the flat portions of the probe to measure a tangent plane of the object.
- the flat portion of the probe need not be shaped into a circle, but may be shaped into a polygonal, ellipse, or star. In Fig. 9, the flat portion is shaped into a star.
- the movable arm need not be provided with rotatable joints.
- the movable arm may be designed to contract and expand, or slide.
- encoder means may be provided for measuring the arm length or the slide position to calculate tangent planes of an three-dimensional object.
- the coordinate system of the movable arm used in calculating the tangent planes may be a rectangular coordinate system as shown in Fig. 10, a cylindrical
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59027424A JPS60170709A (ja) | 1984-02-16 | 1984-02-16 | 形状測定装置 |
JP27424/84 | 1984-02-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0155084A1 true EP0155084A1 (de) | 1985-09-18 |
EP0155084B1 EP0155084B1 (de) | 1988-07-06 |
Family
ID=12220721
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP85300949A Expired EP0155084B1 (de) | 1984-02-16 | 1985-02-13 | Vorrichtung zur Gestaltmessung eines dreidimensionalen Objektes |
Country Status (4)
Country | Link |
---|---|
US (1) | US4703443A (de) |
EP (1) | EP0155084B1 (de) |
JP (1) | JPS60170709A (de) |
DE (1) | DE3563652D1 (de) |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1988004404A1 (en) * | 1986-12-10 | 1988-06-16 | Gregory James Mcdonald | Coordinate measuring system |
EP0295217A1 (de) * | 1987-05-05 | 1988-12-14 | GARDA IMPIANTI S.r.l. | Vorrichtung zum Messen und/oder Kontrollieren der Lage und Richtung charakteristischer Punkte oder Flächen in Strukturen, insbesondere bei Motorfahrzeugkarosserien |
FR2634279A1 (fr) * | 1988-07-13 | 1990-01-19 | France Etat Armement | Dispositif de releve tridimensionnel |
FR2643708A1 (fr) * | 1989-02-25 | 1990-08-31 | Kugelfischer G Schaefer & Co | Palpeur de mesure suivant plusieurs coordonnees |
NL8900866A (nl) * | 1989-04-07 | 1990-11-01 | Kegro Deuren B V | Inrichting voor het aftasten van een deurkozijn en het met behulp van de verkregen gegevens vervaardigen van een deur voor het kozijn. |
FR2653761A1 (fr) * | 1989-10-27 | 1991-05-03 | Potain Sa | Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert. |
EP0305473A4 (en) * | 1987-02-26 | 1992-04-15 | Klaus Ulbrich | Probe, motion guiding device, position sensing apparatus, and position sensing method |
WO1992014120A1 (en) * | 1991-01-30 | 1992-08-20 | Groenskov Leif | Apparatus for the scanning of a profile and use hereof |
EP0522610A1 (de) * | 1991-06-26 | 1993-01-13 | Sulzer - Escher Wyss AG | Verfahren zur Bestimmung der Flächenkontur von Laufradschaufeln hydraulischer Maschinen, sowie Vorrichtung zur Ausführung des Verfahrens |
EP0541811A1 (de) * | 1991-05-28 | 1993-05-19 | Kabushiki Kaisha Toshiba | Arbeitsvorrichtung |
EP0672885A2 (de) * | 1994-03-18 | 1995-09-20 | C.E. Johansson Ab | Koördinatenmessmaschine |
EP0729005A1 (de) * | 1995-02-23 | 1996-08-28 | Institut Für Fertigungstechnik Der Tu Graz | Messvorrichtung mit sechs Freiheitsgraden |
EP0730210A1 (de) * | 1995-03-03 | 1996-09-04 | Faro Technologies Inc. | Dreidimensionales Koordinatenmessungsgerät |
GB2305253A (en) * | 1995-09-12 | 1997-04-02 | British United Shoe Machinery | Outline aid for a line digitiser |
FR2772121A1 (fr) * | 1997-12-10 | 1999-06-11 | Metalscan | Dispositif permettant de determiner la position d'un ensemble mobile de sondes de mesure |
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US6892465B2 (en) | 2002-02-14 | 2005-05-17 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated magnetic mount |
USRE42055E1 (en) | 2002-02-14 | 2011-01-25 | Faro Technologies, Inc. | Method for improving measurement accuracy of a portable coordinate measurement machine |
USRE42082E1 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Method and apparatus for improving measurement accuracy of a portable coordinate measurement machine |
US7881896B2 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
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DE216041T1 (de) * | 1985-08-01 | 1987-10-15 | Brown & Sharpe Mfg. Co., 02852 North Kingston, Ri. | Verfahren und vorrichtung zum dreidimensionalen messen eines objektes. |
US4945501A (en) * | 1987-01-20 | 1990-07-31 | The Warner & Swasey Company | Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor |
IT1211390B (it) * | 1987-10-06 | 1989-10-18 | Dea Spa | Sistema grafico interattivo per la matematizzazione di modelli fisici |
US5212646A (en) * | 1987-12-19 | 1993-05-18 | Renishaw Plc | Method of using a mounting for surface-sensing stylus |
GB8729638D0 (en) * | 1987-12-19 | 1988-02-03 | Renishaw Plc | Mounting for surface sensing device |
GB8803847D0 (en) * | 1988-02-18 | 1988-03-16 | Renishaw Plc | Mounting for surface-sensing device |
US5152072A (en) * | 1988-02-18 | 1992-10-06 | Renishaw Plc | Surface-sensing device |
US5189806A (en) * | 1988-12-19 | 1993-03-02 | Renishaw Plc | Method of and apparatus for scanning the surface of a workpiece |
JP2694669B2 (ja) * | 1989-06-09 | 1997-12-24 | 株式会社日立製作所 | ロボットの動作制御方法 |
US5198990A (en) * | 1990-04-23 | 1993-03-30 | Fanamation, Inc. | Coordinate measurement and inspection methods and apparatus |
US5245555A (en) * | 1990-10-15 | 1993-09-14 | Vilches Jose I | System for measuring vector coordinates |
DE4238139C2 (de) * | 1992-11-12 | 2002-10-24 | Zeiss Carl | Koordinatenmeßgerät |
US6535794B1 (en) | 1993-02-23 | 2003-03-18 | Faro Technologoies Inc. | Method of generating an error map for calibration of a robot or multi-axis machining center |
US5402582A (en) * | 1993-02-23 | 1995-04-04 | Faro Technologies Inc. | Three dimensional coordinate measuring apparatus |
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DE102011056219A1 (de) * | 2011-12-09 | 2013-06-13 | Tyromotion Gmbh | Positionssensor, Sensoranordnung und Rehabilitationsgerät |
CN108839019B (zh) * | 2018-06-25 | 2020-09-01 | 广州视源电子科技股份有限公司 | 机械臂的运动路径的确定方法和装置 |
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WO1988004404A1 (en) * | 1986-12-10 | 1988-06-16 | Gregory James Mcdonald | Coordinate measuring system |
EP0305473A4 (en) * | 1987-02-26 | 1992-04-15 | Klaus Ulbrich | Probe, motion guiding device, position sensing apparatus, and position sensing method |
EP0295217A1 (de) * | 1987-05-05 | 1988-12-14 | GARDA IMPIANTI S.r.l. | Vorrichtung zum Messen und/oder Kontrollieren der Lage und Richtung charakteristischer Punkte oder Flächen in Strukturen, insbesondere bei Motorfahrzeugkarosserien |
FR2634279A1 (fr) * | 1988-07-13 | 1990-01-19 | France Etat Armement | Dispositif de releve tridimensionnel |
FR2643708A1 (fr) * | 1989-02-25 | 1990-08-31 | Kugelfischer G Schaefer & Co | Palpeur de mesure suivant plusieurs coordonnees |
NL8900866A (nl) * | 1989-04-07 | 1990-11-01 | Kegro Deuren B V | Inrichting voor het aftasten van een deurkozijn en het met behulp van de verkregen gegevens vervaardigen van een deur voor het kozijn. |
FR2653761A1 (fr) * | 1989-10-27 | 1991-05-03 | Potain Sa | Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert. |
EP0428453A1 (de) * | 1989-10-27 | 1991-05-22 | Potain | Handhabungsgerät grosser Abmessungen und Kapazität zur Verwendung in offener Umgebung |
WO1992014120A1 (en) * | 1991-01-30 | 1992-08-20 | Groenskov Leif | Apparatus for the scanning of a profile and use hereof |
US5351411A (en) * | 1991-01-30 | 1994-10-04 | Leif Gronskov | Apparatus for the scanning of a profile and use hereof |
EP0541811A1 (de) * | 1991-05-28 | 1993-05-19 | Kabushiki Kaisha Toshiba | Arbeitsvorrichtung |
EP0541811A4 (en) * | 1991-05-28 | 1994-06-29 | Toshiba Kk | Working device |
US5525027A (en) * | 1991-05-28 | 1996-06-11 | Kabushiki Kaisha Toshiba | Working robot |
EP0522610A1 (de) * | 1991-06-26 | 1993-01-13 | Sulzer - Escher Wyss AG | Verfahren zur Bestimmung der Flächenkontur von Laufradschaufeln hydraulischer Maschinen, sowie Vorrichtung zur Ausführung des Verfahrens |
US5611147A (en) * | 1993-02-23 | 1997-03-18 | Faro Technologies, Inc. | Three dimensional coordinate measuring apparatus |
EP0672885A2 (de) * | 1994-03-18 | 1995-09-20 | C.E. Johansson Ab | Koördinatenmessmaschine |
EP0672885A3 (de) * | 1994-03-18 | 1997-04-09 | Johansson Ab C E | Koördinatenmessmaschine. |
US5767380A (en) * | 1995-02-23 | 1998-06-16 | Insitut Fur Fertigungstechnik, Technische Universitat Graz | Measuring arrangement and method for checking the geometric and dynamic accuracy of two machine elements displaceable with respect to one another |
EP0729005A1 (de) * | 1995-02-23 | 1996-08-28 | Institut Für Fertigungstechnik Der Tu Graz | Messvorrichtung mit sechs Freiheitsgraden |
EP0730210A1 (de) * | 1995-03-03 | 1996-09-04 | Faro Technologies Inc. | Dreidimensionales Koordinatenmessungsgerät |
EP1189124A1 (de) * | 1995-03-03 | 2002-03-20 | Faro Technologies Inc. | Dreidimensionales Koordinatenmessgerät |
EP1189125A1 (de) * | 1995-03-03 | 2002-03-20 | Faro Technologies Inc. | Dreidimensionales Koordinatenmessgerät |
GB2305253A (en) * | 1995-09-12 | 1997-04-02 | British United Shoe Machinery | Outline aid for a line digitiser |
FR2772121A1 (fr) * | 1997-12-10 | 1999-06-11 | Metalscan | Dispositif permettant de determiner la position d'un ensemble mobile de sondes de mesure |
EP0926463A1 (de) * | 1997-12-10 | 1999-06-30 | Metalscan | Apparat zur Festellung der Lage einer Anordnung von Messsonden |
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Also Published As
Publication number | Publication date |
---|---|
DE3563652D1 (en) | 1988-08-11 |
JPS60170709A (ja) | 1985-09-04 |
US4703443A (en) | 1987-10-27 |
EP0155084B1 (de) | 1988-07-06 |
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